EP3201088B1 - Transportfähige bodenstation für ein unbemanntes luftfahrzeug - Google Patents

Transportfähige bodenstation für ein unbemanntes luftfahrzeug Download PDF

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Publication number
EP3201088B1
EP3201088B1 EP15847916.2A EP15847916A EP3201088B1 EP 3201088 B1 EP3201088 B1 EP 3201088B1 EP 15847916 A EP15847916 A EP 15847916A EP 3201088 B1 EP3201088 B1 EP 3201088B1
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EP
European Patent Office
Prior art keywords
uav
container
station
recharging
ground station
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Active
Application number
EP15847916.2A
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English (en)
French (fr)
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EP3201088A1 (de
EP3201088A4 (de
Inventor
Andrew STREETT
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Swift Engineering Inc
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Swift Engineering Inc
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Publication of EP3201088A4 publication Critical patent/EP3201088A4/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
    • B64F1/222—Ground or aircraft-carrier-deck installations for handling aircraft for storing aircraft, e.g. in hangars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B64U50/37—Charging when not in flight
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries
    • H02J7/34—Parallel operation in networks using both storage and other DC sources, e.g. providing buffering
    • H02J7/35—Parallel operation in networks using both storage and other DC sources, e.g. providing buffering with light sensitive cells
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • B64U80/70—Transport or storage specially adapted for UAVs in containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • B64U80/80—Transport or storage specially adapted for UAVs by vehicles
    • B64U80/84—Waterborne vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Definitions

  • UASs Unmanned aerial systems
  • UAVs unmanned aerial vehicles
  • VTOL vertical take-off and landing
  • VTOL vertical take-off and landing
  • UAVs unmanned aerial vehicles
  • VTOL vertical take-off and landing
  • UAVs unmanned aerial vehicles
  • VTOL vertical take-off and landing
  • UAVs unmanned aerial vehicles
  • VTOL vertical take-off and landing
  • UAVs unmanned aerial vehicles
  • VTOL vertical take-off and landing
  • Fixed-wing aircraft requiring runways for take-off and landing
  • Document US8511606 discloses a UAV base station including a battery system, a power generation system such as for example a solar power generation system, charging stations and a controller.
  • a transportable ground station for a UAV includes a container in which the UAV may be transported and housed.
  • the container includes a wireless or contact-based recharging station that recharges the UAV's batteries or other power sources after the UAV returns from a mission.
  • the recharging station may be directly or indirectly connected to one or more solar panels that generate energy to power the recharging station.
  • the ground station may be deployed virtually anywhere, from any vehicle (e.g., plane, train, boat, truck, etc.), and may operate over an extended period of time without human intervention.
  • circuits and “circuitry” refer to physical electronic components (i.e., hardware) and any software or firmware (i.e., "code”) that may configure the hardware, be executed by the hardware, or otherwise be associated with the hardware.
  • a particular processor and memory may comprise a first "circuit” when executing a first one or more lines of code, and may comprise a second "circuit” when executing a second one or more lines of code.
  • the term "mission” may refer to one or more tasks carried out by an unmanned aerial vehicle (“UAV") during a single departure from its container, or during multiple departures from its container.
  • UAV unmanned aerial vehicle
  • a mission may involve a UAV being dispatched from its container to complete one or more tasks, after which it may return to the container for recharging, after which it may be re-dispatched to complete one or more additional tasks.
  • This foregoing sequence of events may alternatively be understood to encompass multiple missions (e.g., one mission per departure).
  • a transportable ground station 10 for a UAV 18 includes a container 12, such as a 20-foot or 40-foot standard shipping container, that houses the components of the ground station 10.
  • the container 12 protects the components of the ground station 10 and the UAV 18 from weather, animals, unwanted human intervention, and so forth.
  • a UAV support structure 14 is attached to or otherwise positioned in the container 12. If the UAV 18 is a vertical take-off and landing aircraft ("VTOL"), such as one of the VTOLs described in U.S. Patent Application No. 14/460,013, filed August 14, 2014 , the support structure 14 may include generally V-shaped or Y-shaped guide arms 16 or similar features for guiding the UAV 18 into a recharging position. If the UAV is a quadcopter or helicopter, conversely, the support structure may include a landing pad or table. In these embodiments, augmented global positioning system (“GPS”) signals or magnetics may be used to position the UAV within the structure. Additionally or alternatively, a funnel or similar structure may be used to direct a copter to its proper landing position.
  • GPS global positioning system
  • the UAV has a landing gear or attachment mechanism configured to engage a ground pad or other structure
  • a structure may also be included.
  • the support structure may include a ball, anchor, hook, or other feature that the robotic arm may engage.
  • a wireless charging pad 20, including a first induction coil or other suitable charging element, may be attached to or otherwise positioned on or near the support structure 14, or may be attached to the container 12, to form a wireless recharging station.
  • the UAV 18 includes a corresponding second induction coil or charging element associated with the UAV's one or more batteries or other power sources.
  • the first induction coil is coupleable with the second induction coil to recharge the UAV's batteries or other power sources.
  • the recharging station may include wires or other physical connectors for recharging the UAV's batteries or other power sources.
  • a first open-contact pad may be included on the upper surface of the wing of the UAV, and a second open-contact pad may be included on the lower surface of the wing of the UAV.
  • One of the contact pads would represent the battery's positive terminal, and the other would represent the negative terminal.
  • the contact pads may interface with charging elements positioned on the Y-shaped guide arms 16 of the support structure 14, or they may make contact in another suitable manner.
  • An electronics unit or housing such as an electronics box 22, may be attached to or otherwise positioned in or on the container 12.
  • the electronics box 22 may include battery-recharging circuitry, a battery reservoir, UAV-health-monitoring circuitry, autonomy circuity, weather-monitoring circuitry, or any other features suitable to a UAV mission.
  • the UAV 18 may optionally provide data or other feedback via communications circuitry in the electronics box 22.
  • the UAV 18 itself may provide direct feedback via wireless or other transmission technology.
  • a weather station or other weather monitoring device may be included in the container 12. The weather station may be a standalone device or it may be integrated with the electronics box 22.
  • solar panels 24 are attached to or integral with the container 12.
  • solar panels 24 may be mounted or otherwise attached to the underside of one or more top panels of the container 12 such that, when the top panels are opened, the solar panels 24 face generally toward the sky for exposure to sunlight.
  • the solar panels 24 may be connected to or otherwise in communication with the electronics box 22, which in turn may be connected to or otherwise in communication with the charging pad 20 or other recharger, via power lines 26 or other elements suitable for delivering energy generated by the solar panels 24 to the charging pad 20.
  • the power lines may run directly from the solar panels 24 to the charging pad 20 or other recharger.
  • An antenna 28 or similar communications module or device for transmitting and receiving communication signals may be attached to or otherwise positioned in or on the container 12.
  • the antenna 28 may be mounted on the electronics box 22 and electrically connected to circuitry inside the electronics box 22.
  • the antenna may be connected to the electronic circuitry in the electronics box 22 via one or more cables, wires, or other suitable connectors. While an antenna dish is illustrated in the figures, any other suitable antenna may be used.
  • the ground station 10 may include a GPS or similar navigation system to aid with delivering, tracking, and retrieving the ground station 10. This system may be included in the electronics box 22 or may be positioned elsewhere in or on the container 12. Such a system is particularly useful when the ground station 10 is delivered to a location remote from humans.
  • the container 12 may include wheels 30 or rollers to facilitate its transportation over the ground and between locations.
  • the ground station 10 may include circuitry in the electronics box 22, or in another location, that allows the ground station to be controlled remotely, or autonomously, such that the ground station 10 may be transported without the need for human intervention at the ground-station site.
  • the ground station 10 may include a marine propulsion system ("MPS") 32, such as a propeller, impeller, or azimuth thruster, to propel the container 12 through the water.
  • MPS marine propulsion system
  • the ground station 10 may be guided by GPS or another navigation system to track the sun's position over land or water to maximize the energy generated by the solar panels 24.
  • the ground station 10 may be transported to a desired location via an aircraft, automobile, boat, or other suitable vehicle.
  • the ground station 10 may be equipped with a parachute and flown on a plane (manned or unmanned), then dropped from the plane at the desired location.
  • it may be transported on a boat (manned or unmanned) to a desired location in an ocean, lake, or other body of water.
  • the ground station 10 may remain on the boat's deck during the UAV's mission.
  • the ground station 10 may be transported by a truck (manned or unmanned) to a desired location, and may optionally be removed from the truck upon arrival at the desired location.
  • the ground station 10 may be transported to a dock (on its own wheels or otherwise), and may then enter the water and propel itself, using the MPS 32, to a desired location in the water.
  • the one or more top panels or lid may be opened to expose the inside of the container 12 to the environment, thus providing ingress and egress to the UAV 18.
  • the underside of one or more of the top panels may include one or more solar panels 24, such that, when the container 12 is opened, the solar panels 24 face generally toward the sky for exposure to sunlight.
  • the solar panels 24 use light energy from the sun to generate electricity that may be used to power the electronics box 22 or the UAV charging pad 20.
  • the UAV 18 may be pre-programmed to carry out a mission, or it may be manually, remotely operated during a mission. Once the UAV 18 takes off and exits the container 12, the top panels or lid of the container 12 optionally may be automatically or manually closed to protect the interior of the container 12 from weather, animals, humans, and so forth.
  • the top panels or lid may be reopened to receive the UAV 18, which is guided onto the support structure 14.
  • the UAV's induction pad or other charging element aligns with the corresponding charging element on or near the support structure 14 so that the UAV's one or more batteries or other power sources may be wirelessly recharged (or, in other embodiments, recharged via contacts, as described above).
  • the top panels or lid of the container 14 may optionally be automatically or manually closed during the recharging process.
  • the transportable ground station 10 described herein provides several advantages.
  • the ground station 10 may be dropped off at a remote location and it may carry out autonomous missions without human intervention.
  • a fully charged UAV 18 may leave the container 12 for a relatively long duration (e.g., two hours or more), and repeated missions may be carried out over several months or years without human intervention.
  • the UAV 18 may also provide data or other feedback as required by a particular mission through a cellular network, a satellite network, or another suitable network.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)

Claims (13)

  1. Eine autonome, transportable Bodenstation (10) für ein unbemanntes Luftfahrzeug (UAV), mit:
    einer Stützstruktur (14), welche zum Abstützen eines UAVs (18) ausgebildet ist, und einer Ladestation (20);
    einem Container, welcher ein zu öffnendes, oberes Paneel aufweist;
    einem Sonnenkollektorpaneel, welcher mit der Ladestation in Verbindung ist;
    weiter gekennzeichnet durch
    an dem Container angebrachte Räder, Rollen, oder ein daran angebrachtes Wasserfahrzeug-Antriebssystem, wobei die Räder, Rollen, oder das Wasserfahrzeug-Antriebssystem zum Antreiben des Containers ausgebildet sind; und
    einem elektrischen Schaltkreis (22), welcher in oder auf dem Container angeordnet ist, wobei der elektrische Schaltkreis (22) zum Steuern der Bodenstation mittels Fernbedienung oder autonom ohne einen menschlichen Eingriff an der Stelle ausgebildet ist, an welcher sich die Bodenstation befindet, sowie während deren Transport.
  2. Die autonome, transportable Bodenstation nach Anspruch 1, wobei die Ladestation eine drahtlose Ladestation (20) der Stützstruktur ist, welche zum Aufnehmen des UAVs ausgebildet ist.
  3. Die autonome, transportable Bodenstation nach Anspruch 2, wobei die von dem Sonnenkollektorpaneel erzeugte Energie die drahtlose Ladestation mit Energie versorgt.
  4. Die autonome, transportable Bodenstation nach Anspruch 2, wobei die Stützstruktur Führungsarme (16) aufweist, welche dazu ausgebildet sind, das UAV in eine Wiederaufladeposition zu führen.
  5. Die autonome, transportable Bodenstation nach Anspruch 2, wobei die drahtlose Ladestation eine erste Induktionsspule aufweist, welche dazu ausgebildet ist, mit einer zweiten Induktionsspule gekoppelt zu werden, welche einer Energiequelle des UAVs zugeordnet ist.
  6. Die autonome, transportable Bodenstation nach Anspruch 1, weiter versehen mit wenigstens einem Kommunikationsmodul (26) oder einer Wetterstation, welche auf oder in dem Container angeordnet sind.
  7. Die autonome, transportable Bodenstation nach Anspruch 1, wobei das zu öffnende, obere Paneel eine innere Fläche aufweist, auf welcher das Sonnenkollektorpaneel (24) angebracht ist.
  8. Die autonome, transportable Bodenstation nach Anspruch 1, wobei der Container entweder ein 20-Fuß Standard-Transportcontainer ist, oder ein 40-Fuß Standard-Transportcontainer ist.
  9. Ein Verfahren zum Ausführen einer Mission eines unbemannten Luftfahrzeugs (UAV), mit:
    Entsenden des UAVs auf eine Mission;
    Empfangen des UAVs an einer Ladestation (20);
    Wiederaufladen einer Energiequelle des UAVs;
    Liefern eines Containers (12), in welchem das UAV (18) untergebracht ist, an eine Einsatzstelle;
    Öffnen eines oberen Paneels des Containers vor dem Entsenden des UAVs auf eine Mission; und
    Empfangen des UAVs an der Ladestation (20), welche im Inneren des Containers untergebracht ist, wenn das UAV zu dem Container zurückkehrt; wobei
    das Wiederaufladen der Energiequelle des UAVs die Verwendung von Energie beinhaltet, welche von einem Sonnenkollektorpaneel geliefert wird;
    dadurch gekennzeichnet, dass
    das Liefern des Containers die Verwendung von daran angebrachten Rädern, Rollen, oder einem daran angebrachten Wasserfahrzeug-Antriebssystem umfasst, sowie das Steuern des Containers mittels Fernbedienung oder autonom ohne einen menschlichen Eingriff an der Stelle umfasst, an welcher sich die Bodenstation befindet, sowie während deren Transport.
  10. Das Verfahren nach Anspruch 9, weiter versehen mit dem Belassen des Containers an der Einsatzstelle nach dem Liefern des Containers, so dass die Mission ohne lokalen menschlichen Eingriff erfolgt.
  11. Das Verfahren nach Anspruch 9, weiter versehen mit dem Schließen des oberen Paneels, nachdem das UAV an der Ladestation empfangen wurde, um das UAV von äußeren Umwelteinflüssen während des Ladevorgangs zu schützen.
  12. Das Verfahren nach Anspruch 9, weiter versehen mit dem Entsenden des UAVs auf eine nachfolgende Mission, nachdem das UAV wiederaufgeladen wurde.
  13. Das Verfahren nach Anspruch 9, weiter versehen mit einer autonomen Fortbewegung der Bodenstation, um dem Sonnenverlauf zu folgen.
EP15847916.2A 2014-10-02 2015-09-24 Transportfähige bodenstation für ein unbemanntes luftfahrzeug Active EP3201088B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US14/504,828 US9545852B2 (en) 2014-10-02 2014-10-02 Transportable ground station for an unmanned aerial vehicle
PCT/US2015/051932 WO2016053746A1 (en) 2014-10-02 2015-09-24 Transportable ground station for an unmanned aerial vehicle

Publications (3)

Publication Number Publication Date
EP3201088A1 EP3201088A1 (de) 2017-08-09
EP3201088A4 EP3201088A4 (de) 2018-06-13
EP3201088B1 true EP3201088B1 (de) 2023-04-19

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EP15847916.2A Active EP3201088B1 (de) 2014-10-02 2015-09-24 Transportfähige bodenstation für ein unbemanntes luftfahrzeug

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Country Link
US (2) US9545852B2 (de)
EP (1) EP3201088B1 (de)
JP (1) JP6672279B2 (de)
WO (1) WO2016053746A1 (de)

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